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<div class="title">correspondence_rejection.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/correspondence_types.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/correspondence_sorting.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/console/print.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/common/transforms.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/search/kdtree.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;{</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">namespace </span>registration</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  {</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector.html">   59</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html">CorrespondenceRejector</a></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;CorrespondenceRejector&gt; Ptr;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const CorrespondenceRejector&gt; ConstPtr;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aece0e22dd156eaacff20b45069036483">   66</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aece0e22dd156eaacff20b45069036483">CorrespondenceRejector</a> () </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;          : <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab97eb70d3661574301fe1f978576726d">rejection_name_</a> ()</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a> () </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        {}</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a6cbaada1584e194daaad3fd0c2d4aee8">   72</a></span>&#160;        <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a6cbaada1584e194daaad3fd0c2d4aee8">~CorrespondenceRejector</a> () {}</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="keyword">virtual</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector.html#af69c08f02cc1a3f69920f73f1664f0d8">   78</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#af69c08f02cc1a3f69920f73f1664f0d8">setInputCorrespondences</a> (<span class="keyword">const</span> CorrespondencesConstPtr &amp;correspondences) </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        { </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a> = correspondences; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        };</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <span class="keyword">inline</span> CorrespondencesConstPtr </div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ae43d54dc28964e8df4ab05b74c3b7135">   87</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ae43d54dc28964e8df4ab05b74c3b7135">getInputCorrespondences</a> () { <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a>; };</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a72c90f3fb93739b0366d3528cf7d502f">   93</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a72c90f3fb93739b0366d3528cf7d502f">getCorrespondences</a> (pcl::Correspondences &amp;correspondences)</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;          <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a> || (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a>-&gt;empty ()))</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;            <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a60dbdcf8f1005a1405dcab244a5c5608">applyRejection</a> (correspondences);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        }</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="keyword">virtual</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a42fe3fe1efc3275e78833200bce2027e">  109</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a42fe3fe1efc3275e78833200bce2027e">getRemainingCorrespondences</a> (<span class="keyword">const</span> pcl::Correspondences&amp; original_correspondences, </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;                                     pcl::Correspondences&amp; remaining_correspondences) = 0;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a6a1c8dff3bcce8f99ec98b9982838ffc">  121</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a6a1c8dff3bcce8f99ec98b9982838ffc">getRejectedQueryIndices</a> (<span class="keyword">const</span> pcl::Correspondences &amp;correspondences, </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;                                 std::vector&lt;int&gt;&amp; indices)</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;          <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a> || <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a>-&gt;empty ())</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;          {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;            PCL_WARN (<span class="stringliteral">&quot;[pcl::registration::%s::getRejectedQueryIndices] Input correspondences not set (lookup of rejected correspondences _not_ possible).\n&quot;</span>, <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;            <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;          }</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;          pcl::getRejectedQueryIndices(*<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a>, correspondences, indices);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        }</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="keyword">inline</span> <span class="keyword">const</span> std::string&amp; </div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aa5996af869d7aaa6b8b8dc156038dd3f">  135</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab97eb70d3661574301fe1f978576726d">rejection_name_</a>); }</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a7439b7434309abe4fc65eac56285b8f4">  140</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a7439b7434309abe4fc65eac56285b8f4">requiresSourcePoints</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="keyword">        </span>{ <span class="keywordflow">return</span> (<span class="keyword">false</span>); }</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a469e6e818a18248b555be3bf1807d512">  145</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a469e6e818a18248b555be3bf1807d512">setSourcePoints</a> (pcl::PCLPointCloud2::ConstPtr <span class="comment">/*cloud2*/</span>)</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        {</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;          PCL_WARN (<span class="stringliteral">&quot;[pcl::registration::%s::setSourcePoints] This class does not require an input source cloud&quot;</span>, <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        }</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a08f07ed59490ee2c5d01a99d5589e306">  152</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a08f07ed59490ee2c5d01a99d5589e306">requiresSourceNormals</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;<span class="keyword">        </span>{ <span class="keywordflow">return</span> (<span class="keyword">false</span>); }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a2f61f392a8d0c3da5502949cb22bba7d">  157</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a2f61f392a8d0c3da5502949cb22bba7d">setSourceNormals</a> (pcl::PCLPointCloud2::ConstPtr <span class="comment">/*cloud2*/</span>)</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        { </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;          PCL_WARN (<span class="stringliteral">&quot;[pcl::registration::%s::setSourceNormals] This class does not require input source normals&quot;</span>, <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        }</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab16b39f3fe0d01fb433a2518a793ad33">  163</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab16b39f3fe0d01fb433a2518a793ad33">requiresTargetPoints</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;<span class="keyword">        </span>{ <span class="keywordflow">return</span> (<span class="keyword">false</span>); }</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aefefab8fbee5d140bbdb342b6a97e954">  168</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aefefab8fbee5d140bbdb342b6a97e954">setTargetPoints</a> (pcl::PCLPointCloud2::ConstPtr <span class="comment">/*cloud2*/</span>)</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        {</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;          PCL_WARN (<span class="stringliteral">&quot;[pcl::registration::%s::setTargetPoints] This class does not require an input target cloud&quot;</span>, <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        }</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab3afeffa725f643d1ebc3c0545ea05be">  175</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab3afeffa725f643d1ebc3c0545ea05be">requiresTargetNormals</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="keyword">        </span>{ <span class="keywordflow">return</span> (<span class="keyword">false</span>); }</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a4bbb67f5066c674eba95b440bb4fd03a">  180</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a4bbb67f5066c674eba95b440bb4fd03a">setTargetNormals</a> (pcl::PCLPointCloud2::ConstPtr <span class="comment">/*cloud2*/</span>)</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        {</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;          PCL_WARN (<span class="stringliteral">&quot;[pcl::registration::%s::setTargetNormals] This class does not require input target normals&quot;</span>, <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        }</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab97eb70d3661574301fe1f978576726d">  188</a></span>&#160;        std::string <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab97eb70d3661574301fe1f978576726d">rejection_name_</a>;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">  191</a></span>&#160;        CorrespondencesConstPtr <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a>;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a60dbdcf8f1005a1405dcab244a5c5608">  195</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a60dbdcf8f1005a1405dcab244a5c5608">applyRejection</a> (Correspondences &amp;correspondences) = 0;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    };</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container_interface.html">  202</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1registration_1_1_data_container_interface.html">DataContainerInterface</a></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    {</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1registration_1_1_data_container_interface.html">DataContainerInterface</a> () {}</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">double</span> getCorrespondenceScore (<span class="keywordtype">int</span> index) = 0;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">double</span> getCorrespondenceScore (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_correspondence.html">pcl::Correspondence</a> &amp;) = 0;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">double</span> getCorrespondenceScoreFromNormals (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_correspondence.html">pcl::Correspondence</a> &amp;) = 0;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;     };</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT = pcl::Po<span class="keywordtype">int</span>Normal&gt;</div>
<div class="line"><a name="l00216"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html">  216</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1registration_1_1_data_container.html">DataContainer</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1registration_1_1_data_container_interface.html">DataContainerInterface</a></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    {</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::search::KdTree&lt;PointT&gt;::Ptr KdTreePtr;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;NormalT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">Normals</a>;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> Normals::Ptr NormalsPtr;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> Normals::ConstPtr NormalsConstPtr;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#acbf077d20c83124fe915d5c172bbc2e4">  231</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_data_container.html#acbf077d20c83124fe915d5c172bbc2e4">DataContainer</a> (<span class="keywordtype">bool</span> needs_normals = <span class="keyword">false</span>) </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;          : <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a711caa8a4b0aaae7e43c0bd905c93b7e">input_</a> ()</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a756c8f22f8bbe1fd968a581b9e45769f">input_transformed_</a> ()</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a67c5b1ad7ba26bfa511987f8819362a4">target_</a> ()</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_data_container.html#ab2e50ae09c0d26c70a694b8124c7a5ad">input_normals_</a> ()</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a71ac041b199b2b4dbfdf312d7e8e3bf8">input_normals_transformed_</a> ()</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a3fdb20d66bfae8af64e683eb10c81bf4">target_normals_</a> ()</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a7271d5efde0ebfa6febb51b4cf09fcf3">tree_</a> (new pcl::search::<a class="code" href="classpcl_1_1_kd_tree.html">KdTree</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt;)</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_data_container.html#aabff9a4a09779abfeaaffbe31cc85f3d">class_name_</a> (<span class="stringliteral">&quot;DataContainer&quot;</span>)</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a171c6415242c5342514381edfd9ff411">needs_normals_</a> (needs_normals)</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a31ac9595e051e3fdb30c28bb66a726df">target_cloud_updated_</a> (true)</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_data_container.html#adebdeb3cbafeeae0bebc238eff4aee9c">force_no_recompute_</a> (false)</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        {</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        }</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      </div>
<div class="line"><a name="l00247"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#a596f25043f03daced9e226e8fcf948d3">  247</a></span>&#160;        <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a596f25043f03daced9e226e8fcf948d3">~DataContainer</a> () {}</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        PCL_DEPRECATED (<span class="stringliteral">&quot;[pcl::registration::DataContainer::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.&quot;</span>)</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        void</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a4b1172f7c0c0fecfdde3a1e47ecb0050">setInputCloud</a> (const PointCloudConstPtr &amp;cloud);</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        PCL_DEPRECATED (&quot;[pcl::registration::<a class="code" href="classpcl_1_1registration_1_1_data_container.html">DataContainer</a>::<a class="code" href="classpcl_1_1registration_1_1_data_container.html#a8595c4371a910c07eccf3bde8d5d0596">getInputCloud</a>] <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a8595c4371a910c07eccf3bde8d5d0596">getInputCloud</a> is deprecated. Please use <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a6a905b915ff700820846d26925575b25">getInputSource</a> instead.&quot;)</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        PointCloudConstPtr const</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a8595c4371a910c07eccf3bde8d5d0596">getInputCloud</a> ();</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        inline <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00267"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#a8882a16f05489b2c3c8d8a27584c4bf2">  267</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a8882a16f05489b2c3c8d8a27584c4bf2">setInputSource</a> (const PointCloudConstPtr &amp;cloud)</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;        {</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a711caa8a4b0aaae7e43c0bd905c93b7e">input_</a> = cloud;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        }</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;        <span class="keyword">inline</span> PointCloudConstPtr <span class="keyword">const</span> </div>
<div class="line"><a name="l00274"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#a6a905b915ff700820846d26925575b25">  274</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a6a905b915ff700820846d26925575b25">getInputSource</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_data_container.html#a711caa8a4b0aaae7e43c0bd905c93b7e">input_</a>); }</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160; </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00281"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#a4b79fcde4a6751834220166377231b8f">  281</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a4b79fcde4a6751834220166377231b8f">setInputTarget</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;target)</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;        {</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a67c5b1ad7ba26bfa511987f8819362a4">target_</a> = target;</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a31ac9595e051e3fdb30c28bb66a726df">target_cloud_updated_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        }</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        <span class="keyword">inline</span> PointCloudConstPtr <span class="keyword">const</span> </div>
<div class="line"><a name="l00289"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#ad4ea9078a12ea9db7dca9686523b035a">  289</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_data_container.html#ad4ea9078a12ea9db7dca9686523b035a">getInputTarget</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_data_container.html#a67c5b1ad7ba26bfa511987f8819362a4">target_</a>); }</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;        </div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00299"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#ac52d24a2964c4d9f2864f19001a6455a">  299</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_data_container.html#ac52d24a2964c4d9f2864f19001a6455a">setSearchMethodTarget</a> (<span class="keyword">const</span> KdTreePtr &amp;tree, </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;                               <span class="keywordtype">bool</span> force_no_recompute = <span class="keyword">false</span>) </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        { </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a7271d5efde0ebfa6febb51b4cf09fcf3">tree_</a> = tree; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;          <span class="keywordflow">if</span> (force_no_recompute)</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;          {</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;            <a class="code" href="classpcl_1_1registration_1_1_data_container.html#adebdeb3cbafeeae0bebc238eff4aee9c">force_no_recompute_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;          }</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a31ac9595e051e3fdb30c28bb66a726df">target_cloud_updated_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        }</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00314"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#ad1e5d5043fdb51a75a6e8840ca586654">  314</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_data_container.html#ad1e5d5043fdb51a75a6e8840ca586654">setInputNormals</a> (<span class="keyword">const</span> NormalsConstPtr &amp;normals) { <a class="code" href="classpcl_1_1registration_1_1_data_container.html#ab2e50ae09c0d26c70a694b8124c7a5ad">input_normals_</a> = normals; }</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;        <span class="keyword">inline</span> NormalsConstPtr</div>
<div class="line"><a name="l00318"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#a865e0487cb00c9afab0a01ac6ef5df8e">  318</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a865e0487cb00c9afab0a01ac6ef5df8e">getInputNormals</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_data_container.html#ab2e50ae09c0d26c70a694b8124c7a5ad">input_normals_</a>); }</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160; </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00324"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#a8a19ad4c6068ec123698fbd051957b6d">  324</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a8a19ad4c6068ec123698fbd051957b6d">setTargetNormals</a> (<span class="keyword">const</span> NormalsConstPtr &amp;normals) { <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a3fdb20d66bfae8af64e683eb10c81bf4">target_normals_</a> = normals; }</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;        </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;        <span class="keyword">inline</span> NormalsConstPtr</div>
<div class="line"><a name="l00328"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#a4a042aaf54c97e65810b7dc6bb3b9ede">  328</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a4a042aaf54c97e65810b7dc6bb3b9ede">getTargetNormals</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_data_container.html#a3fdb20d66bfae8af64e683eb10c81bf4">target_normals_</a>); }</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00334"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#abaa208c8d32f730fc3cb1346c34719b9">  334</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_data_container.html#abaa208c8d32f730fc3cb1346c34719b9">getCorrespondenceScore</a> (<span class="keywordtype">int</span> index)</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;        {</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;          <span class="keywordflow">if</span> ( <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a31ac9595e051e3fdb30c28bb66a726df">target_cloud_updated_</a> &amp;&amp; !<a class="code" href="classpcl_1_1registration_1_1_data_container.html#adebdeb3cbafeeae0bebc238eff4aee9c">force_no_recompute_</a> )</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;          {</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;            <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a7271d5efde0ebfa6febb51b4cf09fcf3">tree_</a>-&gt;setInputCloud (<a class="code" href="classpcl_1_1registration_1_1_data_container.html#a67c5b1ad7ba26bfa511987f8819362a4">target_</a>);</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;          }</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;          std::vector&lt;int&gt; indices (1);</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;          std::vector&lt;float&gt; distances (1);</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;          <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1registration_1_1_data_container.html#a7271d5efde0ebfa6febb51b4cf09fcf3">tree_</a>-&gt;nearestKSearch (<a class="code" href="classpcl_1_1registration_1_1_data_container.html#a711caa8a4b0aaae7e43c0bd905c93b7e">input_</a>-&gt;points[index], 1, indices, distances))</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;            <span class="keywordflow">return</span> (distances[0]);</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;            <span class="keywordflow">return</span> (std::numeric_limits&lt;double&gt;::max ());</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;        }</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160; </div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00352"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#ace6a7fb9e6347a506dbeb65c04ba4c28">  352</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_data_container.html#ace6a7fb9e6347a506dbeb65c04ba4c28">getCorrespondenceScore</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_correspondence.html">pcl::Correspondence</a> &amp;corr)</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;        {</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;          <span class="comment">// Get the source and the target feature from the list</span></div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;src = <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a711caa8a4b0aaae7e43c0bd905c93b7e">input_</a>-&gt;points[corr.<a class="code" href="structpcl_1_1_correspondence.html#a1c5d6554ca02dd7aa34fa02f346e7399">index_query</a>];</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;tgt = <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a67c5b1ad7ba26bfa511987f8819362a4">target_</a>-&gt;points[corr.<a class="code" href="structpcl_1_1_correspondence.html#a5e5d2178826d203a755d37bfd317d701">index_match</a>];</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160; </div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;          <span class="keywordflow">return</span> ((src.getVector4fMap () - tgt.getVector4fMap ()).squaredNorm ());</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;        }</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;        </div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00367"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#a47484422018ed7647910f999d0eeb0ed">  367</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a47484422018ed7647910f999d0eeb0ed">getCorrespondenceScoreFromNormals</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_correspondence.html">pcl::Correspondence</a> &amp;corr)</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;        {</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;          <span class="comment">//assert ( (input_normals_-&gt;points.size () != 0) &amp;&amp; (target_normals_-&gt;points.size () != 0) &amp;&amp; &quot;Normals are not set for the input and target point clouds&quot;);</span></div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;          assert (<a class="code" href="classpcl_1_1registration_1_1_data_container.html#ab2e50ae09c0d26c70a694b8124c7a5ad">input_normals_</a> &amp;&amp; <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a3fdb20d66bfae8af64e683eb10c81bf4">target_normals_</a> &amp;&amp; <span class="stringliteral">&quot;Normals are not set for the input and target point clouds&quot;</span>);</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1_normal.html">NormalT</a> &amp;src = <a class="code" href="classpcl_1_1registration_1_1_data_container.html#ab2e50ae09c0d26c70a694b8124c7a5ad">input_normals_</a>-&gt;points[corr.<a class="code" href="structpcl_1_1_correspondence.html#a1c5d6554ca02dd7aa34fa02f346e7399">index_query</a>];</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1_normal.html">NormalT</a> &amp;tgt = <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a3fdb20d66bfae8af64e683eb10c81bf4">target_normals_</a>-&gt;points[corr.<a class="code" href="structpcl_1_1_correspondence.html#a5e5d2178826d203a755d37bfd317d701">index_match</a>];</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;          <span class="keywordflow">return</span> (<span class="keywordtype">double</span> ((src.normal[0] * tgt.normal[0]) + (src.normal[1] * tgt.normal[1]) + (src.normal[2] * tgt.normal[2])));</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;        }</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160; </div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;     <span class="keyword">private</span>:</div>
<div class="line"><a name="l00378"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#a711caa8a4b0aaae7e43c0bd905c93b7e">  378</a></span>&#160;        PointCloudConstPtr <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a711caa8a4b0aaae7e43c0bd905c93b7e">input_</a>;</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160; </div>
<div class="line"><a name="l00381"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#a756c8f22f8bbe1fd968a581b9e45769f">  381</a></span>&#160;        PointCloudPtr <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a756c8f22f8bbe1fd968a581b9e45769f">input_transformed_</a>;</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160; </div>
<div class="line"><a name="l00384"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#a67c5b1ad7ba26bfa511987f8819362a4">  384</a></span>&#160;        PointCloudConstPtr <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a67c5b1ad7ba26bfa511987f8819362a4">target_</a>;</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160; </div>
<div class="line"><a name="l00387"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#ab2e50ae09c0d26c70a694b8124c7a5ad">  387</a></span>&#160;        NormalsConstPtr <a class="code" href="classpcl_1_1registration_1_1_data_container.html#ab2e50ae09c0d26c70a694b8124c7a5ad">input_normals_</a>;</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160; </div>
<div class="line"><a name="l00390"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#a71ac041b199b2b4dbfdf312d7e8e3bf8">  390</a></span>&#160;        NormalsPtr <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a71ac041b199b2b4dbfdf312d7e8e3bf8">input_normals_transformed_</a>;</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160; </div>
<div class="line"><a name="l00393"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#a3fdb20d66bfae8af64e683eb10c81bf4">  393</a></span>&#160;        NormalsConstPtr <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a3fdb20d66bfae8af64e683eb10c81bf4">target_normals_</a>;</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160; </div>
<div class="line"><a name="l00396"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#a7271d5efde0ebfa6febb51b4cf09fcf3">  396</a></span>&#160;        KdTreePtr <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a7271d5efde0ebfa6febb51b4cf09fcf3">tree_</a>;</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160; </div>
<div class="line"><a name="l00399"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#aabff9a4a09779abfeaaffbe31cc85f3d">  399</a></span>&#160;        std::string <a class="code" href="classpcl_1_1registration_1_1_data_container.html#aabff9a4a09779abfeaaffbe31cc85f3d">class_name_</a>;</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160; </div>
<div class="line"><a name="l00402"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#a171c6415242c5342514381edfd9ff411">  402</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a171c6415242c5342514381edfd9ff411">needs_normals_</a>;</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160; </div>
<div class="line"><a name="l00406"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#a31ac9595e051e3fdb30c28bb66a726df">  406</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a31ac9595e051e3fdb30c28bb66a726df">target_cloud_updated_</a>;</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160; </div>
<div class="line"><a name="l00410"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#adebdeb3cbafeeae0bebc238eff4aee9c">  410</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1registration_1_1_data_container.html#adebdeb3cbafeeae0bebc238eff4aee9c">force_no_recompute_</a>;</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160; </div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160; </div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160; </div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;        <span class="keyword">inline</span> <span class="keyword">const</span> std::string&amp; </div>
<div class="line"><a name="l00416"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_data_container.html#a739a94d245d9b3ba95e7dafc1a224395">  416</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_data_container.html#a739a94d245d9b3ba95e7dafc1a224395">getClassName</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_data_container.html#aabff9a4a09779abfeaaffbe31cc85f3d">class_name_</a>); }</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;    };</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;  }</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;}</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160; </div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/correspondence_rejection.hpp&gt;</span></div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160; </div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_REGISTRATION_CORRESPONDENCE_REJECTION_H_ */</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1_kd_tree.html">pcl::KdTree</a></div><div class="ttdoc">KdTree represents the base spatial locator class for kd-tree implementations.</div><div class="ttdef"><b>Definition:</b> kdtree.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html">pcl::registration::CorrespondenceRejector</a></div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_a08f07ed59490ee2c5d01a99d5589e306"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a08f07ed59490ee2c5d01a99d5589e306">pcl::registration::CorrespondenceRejector::requiresSourceNormals</a></div><div class="ttdeci">virtual bool requiresSourceNormals() const</div><div class="ttdoc">See if this rejector requires source normals</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:152</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_a2f61f392a8d0c3da5502949cb22bba7d"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a2f61f392a8d0c3da5502949cb22bba7d">pcl::registration::CorrespondenceRejector::setSourceNormals</a></div><div class="ttdeci">virtual void setSourceNormals(pcl::PCLPointCloud2::ConstPtr)</div><div class="ttdoc">Abstract method for setting the source normals</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:157</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_a42fe3fe1efc3275e78833200bce2027e"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a42fe3fe1efc3275e78833200bce2027e">pcl::registration::CorrespondenceRejector::getRemainingCorrespondences</a></div><div class="ttdeci">virtual void getRemainingCorrespondences(const pcl::Correspondences &amp;original_correspondences, pcl::Correspondences &amp;remaining_correspondences)=0</div><div class="ttdoc">Get a list of valid correspondences after rejection from the original set of correspondences....</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_a469e6e818a18248b555be3bf1807d512"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a469e6e818a18248b555be3bf1807d512">pcl::registration::CorrespondenceRejector::setSourcePoints</a></div><div class="ttdeci">virtual void setSourcePoints(pcl::PCLPointCloud2::ConstPtr)</div><div class="ttdoc">Abstract method for setting the source cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:145</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_a4bbb67f5066c674eba95b440bb4fd03a"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a4bbb67f5066c674eba95b440bb4fd03a">pcl::registration::CorrespondenceRejector::setTargetNormals</a></div><div class="ttdeci">virtual void setTargetNormals(pcl::PCLPointCloud2::ConstPtr)</div><div class="ttdoc">Abstract method for setting the target normals</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:180</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_a60dbdcf8f1005a1405dcab244a5c5608"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a60dbdcf8f1005a1405dcab244a5c5608">pcl::registration::CorrespondenceRejector::applyRejection</a></div><div class="ttdeci">virtual void applyRejection(Correspondences &amp;correspondences)=0</div><div class="ttdoc">Abstract rejection method.</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_a6a1c8dff3bcce8f99ec98b9982838ffc"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a6a1c8dff3bcce8f99ec98b9982838ffc">pcl::registration::CorrespondenceRejector::getRejectedQueryIndices</a></div><div class="ttdeci">void getRejectedQueryIndices(const pcl::Correspondences &amp;correspondences, std::vector&lt; int &gt; &amp;indices)</div><div class="ttdoc">Determine the indices of query points of correspondences that have been rejected, i....</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:121</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_a6cbaada1584e194daaad3fd0c2d4aee8"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a6cbaada1584e194daaad3fd0c2d4aee8">pcl::registration::CorrespondenceRejector::~CorrespondenceRejector</a></div><div class="ttdeci">virtual ~CorrespondenceRejector()</div><div class="ttdoc">Empty destructor.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:72</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_a72c90f3fb93739b0366d3528cf7d502f"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a72c90f3fb93739b0366d3528cf7d502f">pcl::registration::CorrespondenceRejector::getCorrespondences</a></div><div class="ttdeci">void getCorrespondences(pcl::Correspondences &amp;correspondences)</div><div class="ttdoc">Run correspondence rejection</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:93</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_a7439b7434309abe4fc65eac56285b8f4"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a7439b7434309abe4fc65eac56285b8f4">pcl::registration::CorrespondenceRejector::requiresSourcePoints</a></div><div class="ttdeci">virtual bool requiresSourcePoints() const</div><div class="ttdoc">See if this rejector requires source points</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:140</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_a74d516ca516f7421fd86a53dec1a57b1"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">pcl::registration::CorrespondenceRejector::input_correspondences_</a></div><div class="ttdeci">CorrespondencesConstPtr input_correspondences_</div><div class="ttdoc">The input correspondences.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_aa5996af869d7aaa6b8b8dc156038dd3f"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#aa5996af869d7aaa6b8b8dc156038dd3f">pcl::registration::CorrespondenceRejector::getClassName</a></div><div class="ttdeci">const std::string &amp; getClassName() const</div><div class="ttdoc">Get a string representation of the name of this class.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:135</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_ab16b39f3fe0d01fb433a2518a793ad33"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab16b39f3fe0d01fb433a2518a793ad33">pcl::registration::CorrespondenceRejector::requiresTargetPoints</a></div><div class="ttdeci">virtual bool requiresTargetPoints() const</div><div class="ttdoc">See if this rejector requires a target cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:163</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_ab3afeffa725f643d1ebc3c0545ea05be"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab3afeffa725f643d1ebc3c0545ea05be">pcl::registration::CorrespondenceRejector::requiresTargetNormals</a></div><div class="ttdeci">virtual bool requiresTargetNormals() const</div><div class="ttdoc">See if this rejector requires target normals</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:175</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_ab97eb70d3661574301fe1f978576726d"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab97eb70d3661574301fe1f978576726d">pcl::registration::CorrespondenceRejector::rejection_name_</a></div><div class="ttdeci">std::string rejection_name_</div><div class="ttdoc">The name of the rejection method.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:188</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_ae43d54dc28964e8df4ab05b74c3b7135"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#ae43d54dc28964e8df4ab05b74c3b7135">pcl::registration::CorrespondenceRejector::getInputCorrespondences</a></div><div class="ttdeci">CorrespondencesConstPtr getInputCorrespondences()</div><div class="ttdoc">Get a pointer to the vector of the input correspondences.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:87</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_aece0e22dd156eaacff20b45069036483"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#aece0e22dd156eaacff20b45069036483">pcl::registration::CorrespondenceRejector::CorrespondenceRejector</a></div><div class="ttdeci">CorrespondenceRejector()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:66</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_aefefab8fbee5d140bbdb342b6a97e954"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#aefefab8fbee5d140bbdb342b6a97e954">pcl::registration::CorrespondenceRejector::setTargetPoints</a></div><div class="ttdeci">virtual void setTargetPoints(pcl::PCLPointCloud2::ConstPtr)</div><div class="ttdoc">Abstract method for setting the target cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:168</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_af69c08f02cc1a3f69920f73f1664f0d8"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#af69c08f02cc1a3f69920f73f1664f0d8">pcl::registration::CorrespondenceRejector::setInputCorrespondences</a></div><div class="ttdeci">virtual void setInputCorrespondences(const CorrespondencesConstPtr &amp;correspondences)</div><div class="ttdoc">Provide a pointer to the vector of the input correspondences.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:78</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html">pcl::registration::DataContainer</a></div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:217</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_a171c6415242c5342514381edfd9ff411"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#a171c6415242c5342514381edfd9ff411">pcl::registration::DataContainer::needs_normals_</a></div><div class="ttdeci">bool needs_normals_</div><div class="ttdoc">Should the current data container use normals?</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:402</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_a31ac9595e051e3fdb30c28bb66a726df"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#a31ac9595e051e3fdb30c28bb66a726df">pcl::registration::DataContainer::target_cloud_updated_</a></div><div class="ttdeci">bool target_cloud_updated_</div><div class="ttdoc">Variable that stores whether we have a new target cloud, meaning we need to pre-process it again....</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:406</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_a3fdb20d66bfae8af64e683eb10c81bf4"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#a3fdb20d66bfae8af64e683eb10c81bf4">pcl::registration::DataContainer::target_normals_</a></div><div class="ttdeci">NormalsConstPtr target_normals_</div><div class="ttdoc">Normals to the target point cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:393</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_a47484422018ed7647910f999d0eeb0ed"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#a47484422018ed7647910f999d0eeb0ed">pcl::registration::DataContainer::getCorrespondenceScoreFromNormals</a></div><div class="ttdeci">double getCorrespondenceScoreFromNormals(const pcl::Correspondence &amp;corr)</div><div class="ttdoc">Get the correspondence score for a given pair of correspondent points based on the angle betweeen the...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:367</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_a4a042aaf54c97e65810b7dc6bb3b9ede"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#a4a042aaf54c97e65810b7dc6bb3b9ede">pcl::registration::DataContainer::getTargetNormals</a></div><div class="ttdeci">NormalsConstPtr getTargetNormals()</div><div class="ttdoc">Get the normals computed on the target point cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:328</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_a4b1172f7c0c0fecfdde3a1e47ecb0050"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#a4b1172f7c0c0fecfdde3a1e47ecb0050">pcl::registration::DataContainer::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.hpp:43</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_a4b79fcde4a6751834220166377231b8f"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#a4b79fcde4a6751834220166377231b8f">pcl::registration::DataContainer::setInputTarget</a></div><div class="ttdeci">void setInputTarget(const PointCloudConstPtr &amp;target)</div><div class="ttdoc">Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:281</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_a596f25043f03daced9e226e8fcf948d3"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#a596f25043f03daced9e226e8fcf948d3">pcl::registration::DataContainer::~DataContainer</a></div><div class="ttdeci">virtual ~DataContainer()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:247</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_a67c5b1ad7ba26bfa511987f8819362a4"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#a67c5b1ad7ba26bfa511987f8819362a4">pcl::registration::DataContainer::target_</a></div><div class="ttdeci">PointCloudConstPtr target_</div><div class="ttdoc">The target point cloud datase.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:384</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_a6a905b915ff700820846d26925575b25"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#a6a905b915ff700820846d26925575b25">pcl::registration::DataContainer::getInputSource</a></div><div class="ttdeci">PointCloudConstPtr const getInputSource()</div><div class="ttdoc">Get a pointer to the input point cloud dataset target.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:274</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_a711caa8a4b0aaae7e43c0bd905c93b7e"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#a711caa8a4b0aaae7e43c0bd905c93b7e">pcl::registration::DataContainer::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:378</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_a71ac041b199b2b4dbfdf312d7e8e3bf8"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#a71ac041b199b2b4dbfdf312d7e8e3bf8">pcl::registration::DataContainer::input_normals_transformed_</a></div><div class="ttdeci">NormalsPtr input_normals_transformed_</div><div class="ttdoc">Normals to the input point cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:390</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_a7271d5efde0ebfa6febb51b4cf09fcf3"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#a7271d5efde0ebfa6febb51b4cf09fcf3">pcl::registration::DataContainer::tree_</a></div><div class="ttdeci">KdTreePtr tree_</div><div class="ttdoc">A pointer to the spatial search object.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:396</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_a739a94d245d9b3ba95e7dafc1a224395"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#a739a94d245d9b3ba95e7dafc1a224395">pcl::registration::DataContainer::getClassName</a></div><div class="ttdeci">const std::string &amp; getClassName() const</div><div class="ttdoc">Get a string representation of the name of this class.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:416</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_a756c8f22f8bbe1fd968a581b9e45769f"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#a756c8f22f8bbe1fd968a581b9e45769f">pcl::registration::DataContainer::input_transformed_</a></div><div class="ttdeci">PointCloudPtr input_transformed_</div><div class="ttdoc">The input transformed point cloud dataset</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:381</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_a8595c4371a910c07eccf3bde8d5d0596"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#a8595c4371a910c07eccf3bde8d5d0596">pcl::registration::DataContainer::getInputCloud</a></div><div class="ttdeci">PointCloudConstPtr const getInputCloud()</div><div class="ttdoc">Get a pointer to the input point cloud dataset target.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.hpp:51</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_a865e0487cb00c9afab0a01ac6ef5df8e"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#a865e0487cb00c9afab0a01ac6ef5df8e">pcl::registration::DataContainer::getInputNormals</a></div><div class="ttdeci">NormalsConstPtr getInputNormals()</div><div class="ttdoc">Get the normals computed on the input point cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:318</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_a8882a16f05489b2c3c8d8a27584c4bf2"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#a8882a16f05489b2c3c8d8a27584c4bf2">pcl::registration::DataContainer::setInputSource</a></div><div class="ttdeci">void setInputSource(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:267</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_a8a19ad4c6068ec123698fbd051957b6d"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#a8a19ad4c6068ec123698fbd051957b6d">pcl::registration::DataContainer::setTargetNormals</a></div><div class="ttdeci">void setTargetNormals(const NormalsConstPtr &amp;normals)</div><div class="ttdoc">Set the normals computed on the target point cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:324</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_aabff9a4a09779abfeaaffbe31cc85f3d"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#aabff9a4a09779abfeaaffbe31cc85f3d">pcl::registration::DataContainer::class_name_</a></div><div class="ttdeci">std::string class_name_</div><div class="ttdoc">The name of the rejection method.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:399</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_ab2e50ae09c0d26c70a694b8124c7a5ad"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#ab2e50ae09c0d26c70a694b8124c7a5ad">pcl::registration::DataContainer::input_normals_</a></div><div class="ttdeci">NormalsConstPtr input_normals_</div><div class="ttdoc">Normals to the input point cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:387</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_abaa208c8d32f730fc3cb1346c34719b9"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#abaa208c8d32f730fc3cb1346c34719b9">pcl::registration::DataContainer::getCorrespondenceScore</a></div><div class="ttdeci">double getCorrespondenceScore(int index)</div><div class="ttdoc">Get the correspondence score for a point in the input cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:334</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_ac52d24a2964c4d9f2864f19001a6455a"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#ac52d24a2964c4d9f2864f19001a6455a">pcl::registration::DataContainer::setSearchMethodTarget</a></div><div class="ttdeci">void setSearchMethodTarget(const KdTreePtr &amp;tree, bool force_no_recompute=false)</div><div class="ttdoc">Provide a pointer to the search object used to find correspondences in the target cloud.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:299</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_acbf077d20c83124fe915d5c172bbc2e4"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#acbf077d20c83124fe915d5c172bbc2e4">pcl::registration::DataContainer::DataContainer</a></div><div class="ttdeci">DataContainer(bool needs_normals=false)</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:231</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_ace6a7fb9e6347a506dbeb65c04ba4c28"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#ace6a7fb9e6347a506dbeb65c04ba4c28">pcl::registration::DataContainer::getCorrespondenceScore</a></div><div class="ttdeci">double getCorrespondenceScore(const pcl::Correspondence &amp;corr)</div><div class="ttdoc">Get the correspondence score for a given pair of correspondent points</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:352</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_ad1e5d5043fdb51a75a6e8840ca586654"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#ad1e5d5043fdb51a75a6e8840ca586654">pcl::registration::DataContainer::setInputNormals</a></div><div class="ttdeci">void setInputNormals(const NormalsConstPtr &amp;normals)</div><div class="ttdoc">Set the normals computed on the input point cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:314</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_ad4ea9078a12ea9db7dca9686523b035a"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#ad4ea9078a12ea9db7dca9686523b035a">pcl::registration::DataContainer::getInputTarget</a></div><div class="ttdeci">PointCloudConstPtr const getInputTarget()</div><div class="ttdoc">Get a pointer to the input point cloud dataset target.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:289</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html_adebdeb3cbafeeae0bebc238eff4aee9c"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html#adebdeb3cbafeeae0bebc238eff4aee9c">pcl::registration::DataContainer::force_no_recompute_</a></div><div class="ttdeci">bool force_no_recompute_</div><div class="ttdoc">A flag which, if set, means the tree operating on the target cloud will never be recomputed</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_interface_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container_interface.html">pcl::registration::DataContainerInterface</a></div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:203</div></div>
<div class="ttc" id="astructpcl_1_1_correspondence_html"><div class="ttname"><a href="structpcl_1_1_correspondence.html">pcl::Correspondence</a></div><div class="ttdoc">Correspondence represents a match between two entities (e.g., points, descriptors,...</div><div class="ttdef"><b>Definition:</b> correspondence.h:59</div></div>
<div class="ttc" id="astructpcl_1_1_correspondence_html_a1c5d6554ca02dd7aa34fa02f346e7399"><div class="ttname"><a href="structpcl_1_1_correspondence.html#a1c5d6554ca02dd7aa34fa02f346e7399">pcl::Correspondence::index_query</a></div><div class="ttdeci">int index_query</div><div class="ttdoc">Index of the query (source) point.</div><div class="ttdef"><b>Definition:</b> correspondence.h:61</div></div>
<div class="ttc" id="astructpcl_1_1_correspondence_html_a5e5d2178826d203a755d37bfd317d701"><div class="ttname"><a href="structpcl_1_1_correspondence.html#a5e5d2178826d203a755d37bfd317d701">pcl::Correspondence::index_match</a></div><div class="ttdeci">int index_match</div><div class="ttdoc">Index of the matching (target) point. Set to -1 if no correspondence found.</div><div class="ttdef"><b>Definition:</b> correspondence.h:63</div></div>
<div class="ttc" id="astructpcl_1_1_normal_html"><div class="ttname"><a href="structpcl_1_1_normal.html">pcl::Normal</a></div><div class="ttdoc">A point structure representing normal coordinates and the surface curvature estimate....</div><div class="ttdef"><b>Definition:</b> point_types.hpp:779</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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